/********************************************************************************
 * Copyright 2009 The Robotics Group, The Maersk Mc-Kinney Moller Institute,
 * Faculty of Engineering, University of Southern Denmark
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 ********************************************************************************/

#include "CameraModel.hpp"

using namespace rw::sensor;
using namespace rw::kinematics;

CameraModel::CameraModel (const rw::math::ProjectionMatrix& projection, const std::string& name,
                          rw::kinematics::Frame* frame, const std::string& modelInfo) :
    SensorModel (name, frame, modelInfo),
    _pmatrix (projection),
    _sdata (1, rw::core::ownedPtr (new CameraModelCache ()).cast< StateCache > ())
{
    add (_sdata);
}

CameraModel::~CameraModel ()
{}

double CameraModel::getFarClippingPlane () const
{
    return _pmatrix.getClipPlanes ().second;
}

double CameraModel::getNearClippingPlane () const
{
    return _pmatrix.getClipPlanes ().first;
}

Image::Ptr CameraModel::getImage (const rw::kinematics::State& state)
{
    return _sdata.getStateCache< CameraModelCache > (state)->_image;
}

void CameraModel::setImage (Image::Ptr img, rw::kinematics::State& state)
{
    _sdata.getStateCache< CameraModelCache > (state)->_image = img;
}

rw::math::ProjectionMatrix CameraModel::getProjectionMatrix () const
{
    return _pmatrix;
}

double CameraModel::getFieldOfViewX () const
{
    double fovy, aspect, znear, zfar;
    _pmatrix.getPerspective (fovy, aspect, znear, zfar);
    return fovy * aspect;
}

double CameraModel::getFieldOfViewY () const
{
    double fovy, aspect, znear, zfar;
    _pmatrix.getPerspective (fovy, aspect, znear, zfar);
    return fovy;
}
